Autonomous vehicle adapted for sleeping or resting in a reclined posture

ABSTRACT

A vehicle has an automatically tiltable seat, a plurality of seat actuators fully supporting the automatically-tiltable seat to enable the automatically tiltable seat to pitch or roll to compensate for motion of the vehicle, and a processor to predict the motion of the vehicle and to control the plurality of seat actuators. The plurality of seat actuators automatically adjust the pitch or roll of the automatically tiltable seat in response to the motion of the vehicle. The seat actuators also provide shock absorption.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.18/058,863 filed Nov. 26, 2022 which is a continuation of U.S. patentapplication Ser. No. 17/750,353 filed on May 22, 2022 which issued asU.S. Pat. No. 11,548,412 on Jan. 10, 2023 which is a continuation ofU.S. patent application Ser. No. 16/293,797 filed Mar. 6, 2019, whichissued as U.S. Pat. No. 11,351,892 on Jun. 7, 2022, which claimspriority from U.S. Provisional Patent Application 62/641,375 filed Mar.11, 2018.

TECHNICAL FIELD

The present invention relates generally to self-driving or autonomousvehicles and, in particular, for technologies enhancing a userexperience while sleeping or riding in a reclined seat in an autonomousor self-driving vehicle.

BACKGROUND

Autonomous or self-driving vehicles use sensors such as RADAR, LIDARand/or cameras to provide signals to a processor or controller thatgenerates and outputs steering, acceleration and braking signals to thevehicle. A Global Navigation Satellite System (GNSS) receiver such as aGlobal Positioning System (GPS) receiver is also used for navigation. Asthe self-driving vehicle drives autonomously toward a destination, thevehicle will encounter other self-driving vehicles. Self-drivingvehicles in a given area of a road mutually sense each other's presenceusing various sensors for collision avoidance and may communicate, viavehicle-to-vehicle messaging protocols, with each other to avoidcollisions.

Passengers riding in autonomous vehicles may wish to sleep or rest withtheir seats reclined. There is a need for technologies to enhance a userexperience while sleeping or resting in a reclined seat in an autonomousvehicle.

SUMMARY

In general, the present invention provides an autonomous (self-driving)vehicle adapted for sleeping or resting in a reclined seat.

One inventive aspect of the disclosure is an autonomous vehiclecomprising a seat movable between an upright position and a reclinedposition and a ceiling display for displaying user interface elementsand for receiving user input when the seat is in the reclined position.

The ceiling display may be automatically movable such that the ceilingdisplay moves automatically when the seat is reclined.

The ceiling display may be a sunroof display screen comprising atransparent touch-sensitive display. The ceiling display may bepivotable or slidable. The ceiling display may be both pivotable andslidable. The ceiling display may be slidable between a visor positionand a ceiling position.

The autonomous vehicle may further comprise automatically relocatableairbags that automatically relocate when the seat is reclined.

The autonomous vehicle may further comprise an automatically relocatableseatbelt that automatically relocates when the seat is reclined.

The autonomous vehicle may further comprise a passenger-monitoringcamera and automatically adjusting air vents that adjust in response toa passenger position detected by the camera.

The autonomous vehicle may further comprise a passenger-monitoringcamera and an automatically adjusting headrest that adjusts in responseto a passenger position detected by the camera.

The autonomous vehicle may further comprise an automatically foldingsteering wheel that folds automatically when the seat is reclined.

The autonomous vehicle may further comprise automatically retractingside mirrors that automatically retract when the seat is reclined.

Another inventive aspect of the disclosure is an autonomous vehiclecomprising a processor to determine a predicted acceleration of thevehicle and a dynamically compensating seat supported by a plurality ofactuators to compensate for the predicted acceleration of the autonomousvehicle. The actuators may automatically adjust the pitch of the seat.The actuators may automatically adjust the lateral tilt of the seat. Theactuators may automatically adjust both the pitch and the lateral tilt.

Another inventive aspect of the disclosure is vehicle has anautomatically tiltable seat, a plurality of seat actuators fullysupporting the automatically-tiltable seat to enable the automaticallytiltable seat to pitch or roll to compensate for motion of the vehicle,and a processor to predict the motion of the vehicle and to control theplurality of seat actuators. The plurality of seat actuatorsautomatically adjust the pitch or roll of the automatically tiltableseat in response to the motion of the vehicle. The seat actuators alsoprovide shock absorption.

Another inventive aspect of the disclosure is a vehicle comprising anautomatically tiltable seat, a plurality of seat actuators fullysupporting the automatically-tiltable seat to enable the automaticallytiltable seat to tilt at an angle to compensate for motion of thevehicle, and a processor to predict the motion of the vehicle and tocontrol the plurality of seat actuators. The plurality of seat actuatorsautomatically tilt the angle of the automatically tiltable seat inresponse to the motion of the vehicle. The seat actuators also provideshock absorption.

Another inventive aspect of the disclosure is a vehicle comprising anautomatically tiltable seat, a plurality of seat actuators fullysupporting the automatically-tiltable seat to enable the automaticallytiltable seat to pitch or roll to compensate for motion of the vehicle,and a processor to predict the motion of the vehicle and to control theplurality of seat actuators. The plurality of seat actuatorsautomatically adjust the pitch or roll of the automatically tiltableseat in response to the motion of the vehicle.

The foregoing presents a simplified summary of the invention in order toprovide a basic understanding of some aspects of the invention. Thissummary is not an exhaustive overview of the invention. It is notintended to identify essential, key or critical elements of theinvention or to delineate the scope of the invention. Its sole purposeis to present some concepts in a simplified form as a prelude to themore detailed description that is discussed later. Other aspects of theinvention are described below in relation to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Further features and advantages of the present technology will becomeapparent from the following detailed description, taken in combinationwith the appended drawings, in which:

FIG. 1 is a side view of an autonomous (“self-driving”) vehicle inaccordance with an embodiment of the present invention in which adisplay screen moves automatically as a seat reclines to enable viewingand touching the display screen while resting in the reclined seat.

FIG. 2 is a side view of the autonomous vehicle of FIG. 1 further havinga side mounted display screen.

FIG. 3 is a side view of the autonomous vehicle of FIG. 1 further havinga passenger-monitoring camera and an automatically adjusting head rest.

FIG. 4 is a side view of the autonomous vehicle of FIG. 1 further havinga leg-supporting extension or leg rest that extends from the seat whenreclined.

FIG. 5 is a side view of the autonomous vehicle of FIG. 1 further havinga sunroof display screen.

FIG. 6 is a side view of the autonomous vehicle of FIG. 5 in which thesunroof display screen is also pivotable.

FIG. 7 is a side view of the autonomous vehicle of FIG. 6 in which thesunroof display screen is also slidable.

FIG. 8 is a side view of the autonomous vehicle of FIG. 1 furthercomprising a vehicle-integrated continuous positive airway pressure(CPAP) ventilator for a sleeping passenger.

FIG. 9 is a side view of the autonomous vehicle of FIG. 1 having lowermounted airbags adjacent the reclined passenger.

FIG. 10 is a side view of the autonomous vehicle of FIG. 9 in which theairbags are automatically relocated based on the position of thepassenger.

FIG. 11 is a side view of the autonomous vehicle of FIG. 10 in which theseatbelt is automatically relocated based on the position of thepassenger.

FIG. 12 is a side view of the autonomous vehicle of FIG. 1 furtherhaving passenger-monitoring cameras for automatically adjusting airvents based on passenger position.

FIG. 13 is a side view of the autonomous vehicle of FIG. 1 furtherhaving an automatically folding steering wheel.

FIG. 14 is a side view of the autonomous vehicle of FIG. 1 furtherhaving actuators for automatically adjusting an orientation of the seatin the reclined position to compensate for vehicle movement.

FIG. 15 is a side view of the autonomous vehicle showing compensationfor the pitch of the reclined seat during braking.

FIG. 16 is a front view of an autonomous vehicle showing seat actuatorsfor automatically adjusting an orientation of the seat to compensate forvehicle movement.

FIG. 17 is a front view of the autonomous vehicle showing seat actuatorsthat compensate for the roll of the vehicle during a turn.

FIG. 18A is a front view of an autonomous vehicle having automaticallyretracting mirrors when the seats are reclined.

FIG. 18B is a side view of the autonomous vehicle of FIG. 18A.

It will be noted that throughout the appended drawings, like featuresare identified by like reference numerals.

DETAILED DESCRIPTION

Disclosed herein are various embodiments of a self-driving (autonomous)vehicle adapted for sleeping or resting in a reclined seat.

For the purposes of this specification, the term “self-driving vehicle”is meant to encompass any land vehicle such as a car, van, minivan,sports utility vehicle (SUV), crossover-type vehicle, bus, minibus,truck, tractor-trailer, semi-trailer, construction vehicle, workvehicle, tracked vehicle, semi-tracked vehicle, offroad vehicle,electric cart, dune buggy, or the like. The terms “autonomous” and“self-driving” in relation to “vehicle” are meant to encompass anyvehicle having environment-detecting sensors and a processor,controller, computer, computing device or computer system forautonomously steering, accelerating and braking the vehicle, i.e.self-driving or driving autonomously, without a driver physicallytouching, interacting with or providing direct or immediate input to thesteering wheel, accelerator pedal and brake pedal.

FIG. 1 depicts an autonomous or self-driving car 10 as one exemplaryimplementation of a self-driving vehicle or autonomous vehicle (AV). Theself-driving vehicle or autonomous vehicle 10 includes, in theillustrated embodiment, a vehicle chassis 12 and a plurality of wheels13, a motor supported by the chassis for providing propulsive power forthe vehicle, a braking system for braking (decelerating) the vehicle anda steering system for steering the vehicle via a steering mechanismwhich is usually connected to the front wheels. The motor may be aninternal combustion engine, e.g. a gas engine or a diesel engine. Themotor may alternatively be an electric motor. The motor may be ahybrid-electric powerplant. In a variant, the vehicle may have multipleelectric motors for driving different wheels. In another variant, themotor may be a hydrogen fuel cell. The vehicle may include a powertrainto transfer power from the motor to the drive wheels. For some vehicles,the powertrain may include, in addition to the motor (engine), atransmission gearbox, a drive shaft, and a differential. For an electricvehicle implementation, the vehicle includes a rechargeable battery orplurality of rechargeable batteries.

The vehicle depicted by way of example in FIG. 1 also includes aplurality of sensors i.e. environment-detecting sensors for collisionavoidance. The sensors may include RADAR, LIDAR, cameras and ultrasonicrangefinders. The vehicle depicted by way of example in FIG. 1 includesa first sensor 14, a second sensor 16, a third sensor 18, and a fourthsensor 20. In the illustrated embodiment of FIG. 1 , the first sensor 14is a RADAR sensor, the second sensor 16 is a LIDAR sensor, the thirdsensor 18 is a camera and the fourth sensor 20 is a side view camera. Afifth sensor 22 is in this illustrated embodiment a rear (backup)camera. Additional sensors may be provided on the vehicle 10, includingadditional camera, additional LIDAR and RADAR sensors. A different suiteof sensors may be used in other variants.

The vehicle 10 may also be a mixed-mode human-drivable and self-drivablevehicle such as a self-driving car, truck, van, etc. that can beoptionally driven directly by a human driver sitting in the driver'sseat in which case the vehicle has two operating modes: (i) aconventional human driver mode with a human directly driving the vehicleusing the steering wheel, brake pedal and accelerator as isconventionally done with non-autonomous vehicles; (ii) a self-driving(or autonomous) mode in which the vehicle's processor or computingsystem drives autonomously without direct human input, whether a humanis seated in the driver's seat or not.

The self-driving vehicle 10 of FIG. 1 further includes a self-drivingprocessor 100, processors or computing device(s) configured to receiveanalog or digital signals (data) from the sensors and to generatesteering, acceleration and braking control signals for controlling thesteering system, the motor and the braking system of the vehicle. Theprocessor 100 may generate a steering control signal, an accelerationcontrol signal and a braking control signal based on the signalsreceived from the sensors. The processor 100 may also generate othercontrol signals for other subsystems and equipment on the vehicle, e.g.a turn indicator light control signal, a horn control signal, aheadlight control signal, a transmission selector signal, an ignitionshutoff signal, an ignition start-up signal, a door lock signal, a doorunlock signal, a windshield defroster signal, a windshield wiperactivation signal, a wiper fluid squirt signal, climate control signal,headlight activation signal, to name but a few.

The self-driving vehicle 10 depicted by way of example in FIG. 1 furtherincludes a data transceiver, e.g. a cellular data transceiver, asatellite transceiver or any other radiofrequency data transceiver. Thedata transceiver may be any suitable wireless data transceiver fortransmitting and receiving data wirelessly. In one main embodiment, thedata transceiver is a cellular data transceiver. The data transceiver isconfigured to wirelessly communicate data from the vehicle to the remotecontrol device by attaching communicatively to a base stationtransceiver. Data is transmitted and received over a cellular wirelessnetwork using cellular communication protocols and standards for packetdata transfer such as GSM, CDMA, GPRS, EDGE, UMTS, LTE, etc. The vehiclemay include a Subscriber Identity Module (SIM) card for GSM-typecommunications or a Re-Usable Identification Module (RUIM) card forCDMA-type communications. The data transceiver may optionally includeseparate voice and data channels.

The vehicle 10 may also include a Wi-Fi® transceiver and a Bluetooth®transceiver for short-range data communication with other vehicles. Thevehicle 10 may also exchange V2V messages using IEEE 802.11p DedicatedShort-Range Communications (DSRC) in the 5.9 GHz band used, or to beused, by intelligent transportation systems (ITS). The DSRC messages arehalf duplex messages in the 5.850-5.925 GHz range and are short-range(approximately 300 m) and have a high data rate of 6-27 Mbps.

The vehicle 10 may optionally include an onboard diagnostics port and/orone or more other data communication ports or sockets for wiredconnections, e.g. USB, HDMI, FireWire (IEEE 1394), etc. or ports orsockets for receiving non-volatile memory cards, e.g. SD (SecureDigital) card, miniSD card or microSD card. These physical dataconnections may be used to load data onto the memory or to copy datafrom the memory. For example, the data communication ports may be usedto upgrade software, to obtain diagnostics for servicing andmaintenance, or to upload configuration data to the memory to configurethe vehicle for different types of behaviours.

The self-driving vehicle 10 depicted by way of example in FIG. 1 furtherincludes a Global Navigation Satellite System (GNSS) receiver forreceiving satellite signals and for determining a current location ofthe self-driving vehicle. The GNSS receiver may be a Global PositioningSystem (GPS) receiver that decodes satellite signals transmitted byorbiting GNSS satellites. The GNSS (or GPS) receiver may be part of thevehicle navigation system. The GNSS or GPS receiver (e.g. in the form ofa chip or chipset) receives GNSS/GPS radio signals transmitted from oneor more orbiting GNSS/GPS satellites. References herein to “GPS” aremeant to include Assisted GPS and Aided GPS. Although the presentdisclosure refers expressly to the “Global Positioning System”, itshould be understood that this term and its abbreviation “GPS” are beingused expansively to include any satellite-based navigation-signalbroadcast system, and would therefore include other systems used aroundthe world including the Beidou (COMPASS) system being developed byChina, the multi-national Galileo system being developed by the EuropeanUnion, in collaboration with China, Israel, India, Morocco, Saudi Arabiaand South Korea, Russia's GLONASS system, India's proposed RegionalNavigational Satellite System (IRNSS), and Japan's proposed QZSSregional system.

FIG. 1 is a side view of an autonomous (“self-driving”) vehicle 10 inaccordance with an embodiment of the present invention in which avisor-like display screen 105 moves automatically as a seat 110 (e.g. afront seat, particularly the driver seat) reclines to enable ergonomicviewing and touching by the user/passenger/driver of the display screenwhile the user/passenger/driver is resting or reclining in the reclinedseat.

As depicted in FIG. 1 , the seat 110 is movable between an upright seatposition and a reclined seat position 110′. The seat may be positionedat any intermediate position as well. The seat has a bottom seat portion(e.g. a seat cushion frame with a seat cushion) and a back portion (e.g.back support frame with cushioned backrest) that is reclinable (i.e.rotatable) relative to the bottom seat portion. The back portion of theseat has a headrest attached thereto that can be raised and loweredrelative to the back portion of the seat. The seat may be a manuallyadjustable or power-adjustable seat with electrically driven motors totranslate the seat forward and rearward, upward and downward or tochange the angle of reclination. The seat may include a powered ormanually adjustable lumbar support adjustment mechanism, an internalseat heater and/or perforations for seat cooling air. The seat may alsoinclude an internal massaging device. For the purposes of thisspecification, “reclined” means that the back portion of the seat isangled (rotated) rearwardly at an angle suitable for resting orsleeping, which may be an angle greater than 90 degrees, greater than100 degrees, greater than 120 degrees or preferably greater than 150degrees. In other embodiments, the seat may recline close to 180degrees, i.e. 160-180 degrees. In the embodiment depicted in FIG. 1 ,the display screen 105 moves gradually, proportionally or incrementallybetween a first position and a second position 105′ as the seat isreclined.

For the purposes of this specification, references to the “reclining” ofthe “seat” refers specifically to the rearward rotation of the backportion of the seat relative to the bottom seat portion.

As shown by way of example in FIG. 1 , the visor-like display screen 105is movable between a visor position (first position) configured forviewing by the user when the user is seated in the upright seat positionand a ceiling position (second position) for viewing by the user whenthe user is seated in the reclined seat position. The reclined seatposition may be a different angle from what is shown in the figure. Thereclined seat position may be substantially horizontal or angled withrespect to the horizontal as shown in the figure. The display 105 in thevisor position acts as a sun-shading visor. The display may partiallytransparent, e.g. a transparent OLED display screen configured to bedynamically shaded to selectively block incoming sunlight or headlights.The display in the second position 105′ may be substantially parallel tothe ceiling of the cabin of the vehicle. In the first position 105, thedisplay may be substantially parallel to the windshield of the vehicle.Substantially parallel in one embodiment means that the angle of thedisplay relative to the ceiling may vary from +5 to −5 degrees. Inanother embodiment, the angle may vary from +10 to −10 degrees, or +20to −20. The display when mounted “substantially parallel” to the ceilingof the vehicle is thus generally oriented parallel to a direction oftravel, i.e. generally parallel to the roadway such that most of thelight emitted from the display is generally orthogonal to the directionof travel of the vehicle. Thus, for example, when the vehicle istravelling horizontally over a horizontal roadway, the display in thesecond position emits light generally vertically downwardly. The displayoptionally auto-dims in low-light conditions and brightens inbright-light conditions.

The display screen 105 may be a touch-sensitive display. The display maypresent a graphical user interface that presents various user-selectablevehicle controls and vehicle instrumentation such as a speedometer,tachometer, odometer, fuel gauge, battery charge readout, etc. Thedisplay screen 105 may present a virtual dashboard, a map and/ornavigation controls, and/or a camera/video feed of the exterior of thevehicle, sound system controls, climate control settings. The displaymay be user-configurable to present user-selected information that theuser wishes to view while reclining. The user may thus monitor theautonomous driving of the vehicle, may provide commands or inputs tomodify the self-driving behaviour, may set or change destinations,specify detours, control a climate control system, control an audiosystem, or interact with other systems and subsystems of the vehicle. Inone embodiment, the vehicle includes a microphone and speakers and acamera so that user may video conference via this display. The displayscreen 105 may move automatically in response to the seat 110 recliningand automatically when the seat is rotated back to the upright position.The display screen 105 may move proportionally as the seat is reclinedand returned to the upright position or it may move to discretelocations. The display screen 105 may be manually movable orelectrically movable by a motor or actuator. The display screen 105 maybe automatically adjusted based on the angle of reclination of the seatto provide an ergonomic viewing angle. In this embodiment, the processorreceives a seat angle signal from a seat angle measurement device (e.g.embedded seat angle sensor, camera or other angle-detection device),determines a corresponding screen angle (using an equation, formula,correlation or look-up table) and generates and sends a screen angledrive signal to the screen adjustment mechanism to adjust the screenangle.

As illustrated in FIG. 1 , the seat 110 is the driver's seat but it willbe appreciated that, in a truly autonomous vehicle, there may be nolonger be a “driver's seat” per se with a steering wheel, acceleratorpedal and brake pedal, and therefore the technology may be applied tothe left or right front seat. In another embodiment, there may be twodisplay screens, a left screen and a right screen that are independentlymovable in response to reclining of the left and right seats,respectively. In other types of vehicles, there may be reclinable seatsin the rear of the cabin and thus this technology may be applied tothose reclinable rear seats as well.

FIG. 2 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving a side-mounted display screen 120. The side-mounted displayscreen 120 may display dashboard elements, vehicle controls, vehicleinstrumentation, climate control settings, audio system controls, etc.The side-mounted display screen 120 may be used by the passenger/user inaddition, or in lieu of, the ceiling-mounted display screen 105. Forexample, the passenger/user may lie on his or her side when dozing orresting or may turn to the side to view or interact with theside-mounted display screen. In one embodiment, the vehicle may sense(e.g. using force sensors) or detect (e.g. using one or more cameras)the posture of the reclining passenger. If the vehicle senses or detectsthat the passenger is lying on his or her back, the vehicle activatesthe ceiling-mounted display screen to actively present the vehicleinformation (e.g. vehicle controls, instrumentation, gauges, etc.) onthe ceiling-mounted display screen. If the vehicle senses or detectsthat the passenger is lying on his or her side facing the door, thevehicle activates the side-mounted display screen to actively presentthe vehicle information (e.g. vehicle controls, instrumentation, gauges,etc.) on the side-mounted display screen. The information anduser-selectable controls that are displayed on the side-mounted displaymay be user-configurable.

FIG. 3 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving a passenger-monitoring camera 135 and an automatically adjustinghead rest 130. In the embodiment of FIG. 3 , the passenger-monitoringcamera 135 detects a position or posture of the user's head and, incooperation with a microprocessor, generates a signal to one or moreactuators, motors or servos to automatically adjust the angle in one,two or three dimensions and/or position and/or firmness of the head rest130. This headrest adjustment makes it more comfortable for thepassenger to sleep or rest. The firmness of the headrest may also beautomatically adjusted using an inflatable pneumatic bladder or multipleinflatable cells and/or actuators that change the shape of the headrest.The headrest may optionally be heated or cooled. A camera may detect ifthe passenger is sleeping on his or her back or side in which case theheadrest may be adjusted for either a side sleeping posture or a backsleeping posture.

FIG. 4 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving a leg-supporting extension or leg rest 140 that extends from theseat 110 when the seat 110 is reclined. The leg rest 140 may extend inproportion to the angle of reclination or may occur only once the seathas reclined beyond a predetermined angle.

FIG. 5 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving a sunroof display screen 150. In one embodiment, the sunroofdisplay screen 150 comprises a transparent touch-sensitive display, e.g.a transparent OLED display. The sunroof display screen 150 may bemovable like a conventional sunroof, e.g. it may translate (or slide)from a closed (substantially hermetic) position to an open (open-air)position or to intermediate positions therebetween. The sunroof displayscreen 150 may also tilt. The sunroof display screen 150 may optionallybe covered by a sliding shade. The sunroof display screen 150 maypresent user interface elements (user-selectable buttons, toggles,elements, etc.), dashboard elements, gauges, dials, instrumentation,vehicle controls, camera or video imagery, etc. Instead of a sunroofdisplay screen 150, the display may be a display screen mounted to theceiling of the vehicle cabin. The ceiling-mounted display screen may befixed or movable.

FIG. 6 is a side view of the autonomous vehicle 10 of FIG. 5 in whichthe sunroof display screen 150 is also pivotable into a pivoted position150′. The screen 150 may be manually pivotable or electrically pivotableby a motor, servo or actuator. The screen 150 may be automaticallyadjusted based on the angle of reclination of the seat to provide anergonomic viewing angle. The angle of the screen may be automaticallyadjusted based on a posture or angle of the passenger as determined byan in-cabin camera or other sensor.

FIG. 7 is a side view of the autonomous vehicle 10 of FIG. 6 in whichthe sunroof display screen 150 is also slidable between a forwardpivoted position 150′ and a rearward pivoted position 150″. The screen150 may be automatically slidable or manually slidable through one ormore tracks, rails, grooves or guides running along the ceiling. Thetranslational position of the screen may be automatically adjusted basedon a posture or angle of the passenger as determined by an in-cabincamera or other sensor.

FIG. 8 is a side view of the autonomous vehicle 10 of FIG. 1 furthercomprising a vehicle-integrated continuous positive airway pressure(CPAP) ventilator 160 for a sleeping passenger. The CPAP ventilator maybe fluidly connected to the heating, ventilation and air conditioning(HVAC) system of the vehicle so that the CPAP ventilator may receiveairflow directly from the fan or air circulation subsystem of the HVACsystem of the vehicle.

FIG. 9 is a side view of the autonomous vehicle 10 of FIG. 1 havinglower mounted airbags 170, 180, 190 adjacent the reclined passengerwhich are in addition to the usual or normal array of airbags in thesteering wheel, dashboard, side columns, pillars or posts, etc. Thefirst lower airbag 170 is positioned to protect the legs or knees of thereclined passenger. The second lower airbag 180 is positioned to protectthe head of the reclined passenger. The third lower airbag is positionedto protect the shoulder or torso of the reclined passenger. The firstlower airbag 170 may be positioned on the side of the foot well. Thesecond lower airbag 180 may be positioned in the rear door panel i.e.below the rear side window. The third lower airbag 190 may be positionedbelow the plane of the side windows in the vertical post or columnbetween the front and rear doors. Other airbags may be placed in otherlocations to further protect the reclined passenger.

FIG. 10 is a side view of the autonomous vehicle 10 of FIG. 9 in whichthe airbags 170 are automatically relocated (i.e. displaced) based onthe position of the passenger. In this specific example, the airbag 170is raised and lowered depending on the position of the reclined seat tooptimize protection for the passenger. For example, in one embodiment,the airbag 170 automatically moves from lower position 170′ to upperposition 170″ when the reclined seat 110 moves between a first reclinedposition 110′ and a second reclined position 110″. In a variant, one ormore airbags may be activated or deactivated in addition or in lieu ofmoving the airbags.

FIG. 11 is a side view of the autonomous vehicle 10 of FIG. 10 in whichthe seatbelt is automatically relocated based on the position of thepassenger. In this example embodiment, the seatbelt 210 is held by anupper seatbelt holder 200, i.e. a D-shaped pillar loop for guiding thebelt from the retractor, and a lower seatbelt holder 220, i.e. aseatbelt receptacle for detachably connecting to the seatbelt buckle.The upper seatbelt holder 200 moves to a lowered position 200′automatically when the seat is reclined to position 110′. For example,the holder 200 slides or translates in a vertical groove, slot orchannel along the pillar. In a variant, the groove, slot or channel maybe curved. The automatic airbag and seatbelt relocation may occurproportionally to the angle of reclination of the seat. An automaticseatbelt tensioning device automatically re-applies tension to theseatbelt 210 when relocated to remove any unwanted slack in theseatbelt. The position of the seatbelt may be automatically adjustedbased on a posture or angle of the passenger as determined by anin-cabin camera or other sensor.

FIG. 12 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving passenger-monitoring cameras 135 for automatically adjusting airvents based on passenger position. In this embodiment, there are twocameras 135 although the number and position of the cameras may bevaried. One or more of the air vents 230 may be automatically adjustedin response to the detected angle of reclination of the seat(s). Inanother embodiment, the cameras may be thermal imaging or infraredcameras (e.g. FLIR cameras) capable of generating a thermal image of thepassenger(s) and/or of the seats in order to direct cooling air or warmair in the optimal direction(s) to maximize the comfort of thepassengers. By generating and updating a time-varying temperature map ofthe cabin, seat or passenger, the vehicle can adjust the cooling andwarming air flow to cool and warm the cabin evenly or to cool and warmthose areas that are too warm or too cold. It also avoids the problem ofoverly cooling or heating due to immobile vents. The processor may thusadjust the climate control, the direction of the vents to maximizepassenger comfort while the passenger is sleeping or resting. In avariant, the processor may raise or lower sunshades or tint windows inresponse to the camera detecting that the sun is shining directly on thepassenger.

FIG. 13 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving an automatically folding steering wheel 240 which foldsautomatically into a folded configuration 240′. As illustrated, thefolded configuration may also be retracted or partially retracted into acavity or recess in or under the dashboard. The fold signal and theunfold signal may be automatically generated in response to reclinationof the seat beyond a predetermined angle of reclination or by activatingan autonomous driving mode. It will be appreciated that the autonomousdriving mode may itself be triggered by detecting that the seat(driver's seat) has reclined beyond a predetermined angular threshold.In another embodiment, the vehicle can sense that the driver has fallenasleep or has become drowsy using biometric sensors, cameras or bysensing that the user is no longer providing driving input to thevehicle. In a variant, the vehicle may have left and right foldablesteering wheels to enable human driving while sitting in either the leftseat or the right seat such that only one of the two steering wheels isunfolded and thus useable at any one time.

In accordance with another embodiment, the vehicle may include one ormore dynamically compensating seats or motion-compensating seats. Onebenefit of the motion-compensating seats is to minimize motion sicknessfor the passengers riding, sleeping or resting in the vehicle. Themotion-compensating seats also improve the general comfort of the ridefor the passengers sitting in those seats.

FIG. 14 is a side view of the autonomous vehicle 10 of FIG. 1 furtherhaving a plurality of actuators 250 (e.g. hydraulic, pneumatic orelectric actuators) for automatically adjusting an orientation of theseat to compensate for vehicle movement. In a main embodiment, theautomatic adjustment of the orientation of the seat is performed on thereclined seat position to minimize and attenuate unwanted motion for theresting or sleeping passenger. In the illustrated embodiment, theactuators are connected to the base of the seat to fully support theseat, eliminating the traditional seat tracks that support the seat. Inanother embodiment, the actuators support a platform or frame having orsupporting seat tracks. In one embodiment, there are six actuators tomove and support the seat. The actuators enable motion for pitch androll. The actuator may optionally also provide a yaw motion as well. Theseat may be supported and moved by a different number of actuators, e.g.three, four, five, seven, eight, etc. In addition, the seats may includepneumatically inflatable bladders to further constrain the passengerduring a sharp turn or hard braking manoeuvre.

FIG. 15 is a side view of the autonomous vehicle 10 showing compensationfor the pitch of the reclined seat during braking or hard acceleration.For an autonomous vehicle, unlike a human driven vehicle, the vehicle'smanoeuvres (turns, braking, acceleration) are known in advance by theprocessor of the vehicle before the manoeuvre is actually performedbecause the route is programmed. Thus, for example, a vehicleapproaching a stop sign knows in advance (i.e. the processor canpredict) that the vehicle will be braking and thus can calculate thedeceleration on the body of the passenger e.g. by using factors such asthe seat angle, the mass of the passenger (measured by aweight-measuring sensor embedded in the seat and even the posture of thepassenger as seen by an in-cabin camera or as sensed by sensors embeddedin the seat). Since the processor of the vehicle predicts or knows inadvance the turns, acceleration and braking to be performed imminently,the vehicle processor can pre-emptively or proactively transmit signalsto the actuators 250 to commence compensatory movements to coincide withthe actual vehicle manoeuvre so as to compensate for turns, braking andacceleration. Because forces are able to be predicted in an autonomousvehicle, the processor of the autonomous vehicle can proactivelyinitiate force compensation. For example, the vehicle processor may senda signal to the actuator to begin compensation of the pitch of the seatat the same time or just prior to sending the braking signal to thebraking system of the vehicle (depending on the relative lag times ofthe brakes and of the seat actuators). For example, the seat can betilted sideways to compensate for the centrifugal force exerted on thepassenger during a sharp turn. Knowing the predicted velocity of thevehicle and the radius of the turn to be made, the radial accelerationcan be computed and thus the centrifugal force on the passenger mass canbe determined by the processor. The processor can then signal theactuators pre-emptively to compensate for the predicted centrifugalforce. As the vehicle enters the turn, the actuators tilt the seat tocompensate for the centrifugal force.

FIG. 16 is a front view of an autonomous vehicle showing actuators 250for automatically adjusting an orientation of the front seats 110 tocompensate for vehicle movement. In this example, the seats 110 areupright although it will be appreciated that the seats may be reclinedor partly reclined. These actuators may also be used to raise or lowerthe seat or to move them forward to rearward. These actuators may alsobe used to provide shock absorption.

FIG. 17 is a front view of the autonomous vehicle 10 showingcompensation for the roll of the vehicle during a turn. In this example,the dynamically compensating seats 110 are tilted sideways (laterally)from a vertical plane or vertical axis 111 by an angle ⊖ defined by thetilted axis 112.

The motion compensation by the actuators may also be performed when thevehicle is on an inclined road, e.g. going down a hill or going up ahill. The processor predicts the incline of the road either by detectingthe incline using a forward-facing camera, ground-measuring laser orother sensor, by obtaining topology data from a map, or from othervehicles in the vicinity who are sharing such data viavehicle-to-vehicle communications. The processor of the vehicle may alsolearn and thus develop its own topology map for routes that arefrequently taken but for which there is no data, for example, anoff-road path to a cottage or camp.

FIG. 18A and FIG. 18 are front and side views of an autonomous vehicle10 having automatically retracting side mirrors 260 when the driver'sseat 110 is reclined into the reclined position 110′. The side mirrors260 may be retracted, either fully or partially, into a retractedposture 260′ as shown. This retraction of the mirrors may occurautomatically when the user reclines the seat (e.g. driver's seat) orwhen the user activates an autonomous driving mode or when the vehicleautomatically switches into autonomous driving mode based on a sensedcondition. The retracted position may be a more aerodynamic positionand/or a more compact position.

When switching into the autonomous driving mode (“auto-pilot”), thevehicle may automatically make other adjustments or reconfigurationssuch as tinting or darkening one or more of the windows of the vehicleor raising one or more sunshades to provide a darkened or shadedinterior that is a more conducive environment for sleeping, dozing orresting. The vehicle may also use sensors and/or cameras to detect whenthe passenger has fallen asleep in the reclined seat. Upon detectingthat the passenger has fallen asleep, the vehicle can perform areconfiguration such as darkening or tinting the windows, raisingsunshades, shutting off the audio system, adjusting the climate controlfor a pre-programmed sleeping profile, and/or adjust a vehicleself-driving mode to be least disruptive in terms of noise and/ormotion.

The processor of the vehicle may also be configured to wake the sleepingor dozing passenger or passengers. The vehicle may provide anotification, alert or alarm, either audibly or by vibration of theseat, to wake the sleeping user/passenger to notify the user/passengerthat the vehicle has arrived at the destination of a programmed route,or alternatively, may wake the user/passenger if there is an issuerequiring the user's attention or input, e.g. a decision to stop forfuel or recharging, taking a detour, a mechanical or electrical failureor the like. To wake the passenger, the processor may raise the seatback to the upright position in lieu or in addition to the notification.Algorithms, code and rules for the decision-making steps or actionsdescribed above may be performed by a microprocessor, such as theprocessor 100 described above or by any other suitable microprocessor,microcontroller, computer, computing device, server or group, cluster,network, or confederation of such devices. The processor is thusconfigured to perform one or various methods or processes of monitoringthe seat to determine if the seat has been reclined into a sleeping orresting posture and then adjusting a position of a vehicle display toenable the user to monitor or interact with the vehicle via the vehicledisplay. The processor is also configured to perform one or more methodsof detecting a position of the seat (whether reclined or upright) andthen performing a vehicle adjustment such as adjusting the air vents,adjusting the position of an airbag, adjusting a position of a seatbelt,adjusting a position, angle or firmness of a headrest, etc. toaccommodate the user. The processor can also be configured to wirelesslyreceive user settings or parameters to customize the vehicle for theparticular passenger or group of passengers to be driven in the vehicle.For example, an autonomous vehicle that is a rental car, taxi,limousine, or participating in riding-sharing like Uber or Lyft mayreceive user preference data over the air prior to the user embarkinginto the vehicle. The user preference data may include a sleep profilespecifying how the vehicle is to be configured if the user/passengerfalls asleep. This may include settings for temperature, sunshades,posture of the seat, firmness of the headrest, whether to periodicallyactivate an internal massager or not, what type of alarm or notificationto provide on arrival at the destination, whether to automatically raisethe seat or not, etc.

In another embodiment, the processor cooperates with a camera and facialrecognition software to recognize the user/passenger and toautomatically upload previously stored user preference settingsassociated with the recognized user/passenger. In a variant, theprocessor may cause a speaker to emit an audible message to confirm thatthe user/passenger wishes to use his or her standard settings. Such aspoken message may be, for example, a welcome message such as: “WelcomeMr. Smith, would you like us to use your usual vehicle settings today?”Using speech recognition, the processor determines from the user'sverbal reply (e.g. “yes” or “no”) whether to use the standard settingsdefined by the previously stored user preference data.

The sleep profile may also be learned by the processor implementing alearning algorithm or artificial intelligence by noting the usersettings over a period of time. In one implementation, the processorcooperates with a camera and facial recognition software to recognizethe user in order to store the settings for the particular user. Thevehicle may also use a mobile phone identifier of the passenger as afurther means of identifying the user.

These methods can be implemented in hardware, software, firmware or asany suitable combination thereof. That is, if implemented as software,the computer-readable medium comprises instructions in code which whenloaded into memory and executed on a processor of a computer causes thecomputer to perform any of the foregoing method steps. These methodsteps may be implemented as software, i.e. as coded instructions storedon a computer readable medium which performs the foregoing steps whenthe computer readable medium is loaded into memory and executed by themicroprocessor of the mobile device. A computer readable medium can beany means that contain, store, communicate, propagate or transport theprogram for use by or in connection with the instruction executionsystem, apparatus or device. The computer-readable medium may beelectronic, magnetic, optical, electromagnetic, infrared or anysemiconductor system or device. For example, computer executable code toperform the methods disclosed herein may be tangibly recorded on acomputer-readable medium including, but not limited to, a floppy-disk, aCD-ROM, a DVD, RAM, ROM, EPROM, Flash Memory or any suitable memorycard, etc. The method may also be implemented in hardware. A hardwareimplementation might employ discrete logic circuits having logic gatesfor implementing logic functions on data signals, anapplication-specific integrated circuit (ASIC) having appropriatecombinational logic gates, a programmable gate array (PGA), a fieldprogrammable gate array (FPGA), etc.

For the purposes of interpreting this specification, when referring toelements of various embodiments of the present invention, the articles“a”, “an”, “the” and “said” are intended to mean that there are one ormore of the elements. The terms “comprising”, “including”, “having”,“entailing” and “involving”, and verb tense variants thereof, areintended to be inclusive and open-ended by which it is meant that theremay be additional elements other than the listed elements.

This new technology has been described in terms of specificimplementations and configurations which are intended to be exemplaryonly. Persons of ordinary skill in the art will appreciate that manyobvious variations, refinements and modifications may be made withoutdeparting from the inventive concepts presented in this application. Thescope of the exclusive right sought by the Applicant(s) is thereforeintended to be limited solely by the appended claims.

The invention claimed is:
 1. A vehicle comprising: an automaticallytiltable seat; a plurality of seat actuators fully supporting theautomatically-tiltable seat to enable the automatically tiltable seat topitch or roll to compensate for motion of the vehicle; a processor topredict the motion of the vehicle and to control the plurality of seatactuators; wherein the plurality of seat actuators automatically adjustthe pitch or roll of the automatically tiltable seat in response to themotion of the vehicle; and wherein the seat actuators also provide shockabsorption.
 2. The vehicle of claim 1 wherein the processor cooperateswith the plurality of seat actuators to cause a yaw motion of theautomatically tiltable seat.
 3. The vehicle of claim 1 wherein theautomatically tiltable seat comprises pneumatically inflatable bladdersto further constrain a user sitting in the automatically tiltable seat.4. The vehicle of claim 1 wherein the processor controls the pluralityof seat actuators using a seat angle of the automatically tiltable seatand a mass of a user sitting in the seat by measuring the mass of theuser using a weight-measuring sensor embedded in the seat.
 5. Thevehicle of claim 1 wherein the processor cooperates with the pluralityof seat actuators to raise or lower the automatically tiltable seat. 6.The vehicle of claim 1 wherein the processor cooperates with theplurality of seat actuators to move the automatically tiltable seatforward or rearward.
 7. The vehicle of claim 1 wherein the plurality ofseat actuators support a platform that provides seat tracks for theautomatically tiltable seat.
 8. The vehicle of claim 1 wherein theplurality of seat actuators comprises six seat actuators.
 9. The vehicleof claim 1 wherein the process controls the plurality of seat actuatorsbased on the relative lag times of brakes of the vehicle and the seatactuators.
 10. A vehicle comprising: an automatically tiltable seat; aplurality of seat actuators fully supporting the automatically-tiltableseat to enable the automatically tiltable seat to tilt at an angle tocompensate for motion of the vehicle; a processor to predict the motionof the vehicle and to control the plurality of seat actuators; whereinthe plurality of seat actuators automatically tilt the angle of theautomatically tiltable seat in response to the motion of the vehicle;and wherein the seat actuators also provide shock absorption.
 11. Thevehicle of claim 10 wherein the processor cooperates with the pluralityof seat actuators to cause a yaw motion of the automatically tiltableseat.
 12. The vehicle of claim 10 wherein the automatically tiltableseat comprises pneumatically inflatable bladders to further constrain auser sitting in the automatically tiltable seat.
 13. The vehicle ofclaim 10 wherein the processor cooperates with the plurality of seatactuators to raise or lower the automatically tiltable seat and to alsomove the automatically tiltable seat forward or rearward.
 14. A vehiclecomprising: an automatically tiltable seat; a plurality of seatactuators fully supporting the automatically-tiltable seat to enable theautomatically tiltable seat to pitch or roll to compensate for motion ofthe vehicle; a processor to predict the motion of the vehicle and tocontrol the plurality of seat actuators; and wherein the plurality ofseat actuators automatically adjust the pitch or roll of theautomatically tiltable seat in response to the motion of the vehicle.15. The vehicle of claim 14 wherein the processor cooperates with theplurality of seat actuators to cause a yaw motion of the automaticallytiltable seat.
 16. The vehicle of claim 14 wherein the automaticallytiltable seat comprises pneumatically inflatable bladders to furtherconstrain a user sitting in the automatically tiltable seat.
 17. Thevehicle of claim 14 wherein the processor cooperates with the pluralityof seat actuators to raise or lower the automatically tiltable seat. 18.The vehicle of claim 14 wherein the processor cooperates with theplurality of seat actuators to move the automatically tiltable seatforward or rearward.
 19. The vehicle of claim 14 wherein the seatactuators also provide shock absorption.
 20. The vehicle of claim 14wherein the processor controls the seat actuators based on a predictedincline of the road.